Motion platform system and method of rotating a motion platform about plural axes

ABSTRACT

A motion platform system includes a support and a motion platform supported by the support and rotatable about a plurality of bearing axes. The motion platform is further rotatable with respect to the support about at least one axis that is offset from the plurality of bearing axes. The motion platform may include an intermediate frame supported by the support, where the intermediate frame is rotatable about a first bearing axis with respect to the support. The motion platform may further include an inner frame supported by the intermediate frame, where the inner frame is rotatable about a second bearing axis with respect to the intermediate frame. Rotations of the inner and intermediate frames about the first and second bearing axes facilitate rotation of the inner frame with respect to the support about at least one axis offset from the bearing axes.

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority from U.S. Provisional PatentApplication Serial No. 60/396,130, entitled “Motion Platform System andMethod for Effecting Rotation of an Internal Frame About Plural Axes”and filed Jul. 17, 2002. The disclosure of the above-mentionedprovisional application is incorporated herein by reference in itsentirety.

BACKGROUND OF THE INVENTION

[0002] 1. Technical Field

[0003] The present invention pertains to motion platform systems. Inparticular, the present invention pertains to a motion platform systemfor use in exercise or other equipment (e.g., various simulators, etc.)that rotates a motion platform structure via bearing axes displaced fromthe platform rotation axes.

[0004] 2. Discussion of the Related Art

[0005] Current motion platforms are capable of moving a human-sizedpayload in multiple degrees of freedom. These types of platforms includeStewart platforms, Gough platforms and parallel link systems. Further,U.S. Pat. No. 5,431,569 (Simpkins et al) discloses a motion simulatorthat uses an existing personal computer and off the shelf software tophysically simulate and control the motions of a computer generatedvehicle. The motion simulator is manually powered by the user andincludes a control stick connected to a computer input, whereby controlstick movement is translated into movement of the computer generatedvehicle. A rigid control arm connects the control stick to a base unitand to a cockpit frame to move the cockpit frame relative to the baseunit as the control stick is moved. The center of gravity of the cockpitis located below the pitch and roll axes so the cockpit tends to returnto an initial position.

[0006] U.S. Pat. No. 6,330,837 (Charles et al) discloses a parallelmechanism capable of positioning and orienting an end platform with upto six or more degrees of freedom. The mechanism includes six linkshaving first and second ends. The first end is connected to an endplatform for supporting a tool, while the second end is connected to anactuator capable of translating the second end. A rotational drivemechanism may be provided for rotating an object mounted on the endplatform at varying orientations of the end platform independently ofmovement of the end platform as a whole.

[0007] U.S. Pat. No. 6,357,827 (Brightbill et al) discloses a deviceincluding a two degree-of-freedom pivot supporting a platform. Inparticular, this patent discloses a portable seat including one or moremoving seating assemblies. A motion mechanism provides each seatingassembly with at least one of total rocking, vertical, lateral andturning movement. The seating assemblies are provided at a neutral anglethat corresponds to the particular seat application, while the amount ofrocking and/or vertical movement is based on the neutral angle. Theneutral angle orientation, rocking movement and vertical movement incombination cause the weight supported by occupant seat bones, posteriorand thighs to be optimally distributed on the seating assembly, therebyimproving seating comfort as applied to a given seating environment.

[0008] However, the above types of platform systems tend to be large andrequire external power sources to achieve movement. Further, a majorityof the systems, including the Brightbill et al device, are configuredwhere the center of rotation must exist outside of the work envelope(e.g., systems employing a two degree-of-freedom pivot to support aplatform). System configurations including a center of rotation withinthe work envelope, such as a Stewart platform, typically requirecomputer control to move multiple axes and offset the center of rotationto a desired location.

[0009] In an attempt to overcome some of the aforementioned problems,the related art provides a gimbal mechanism. The gimbal is compact(e.g., capable of fitting into a small space) and requires low power foractuation. Typically, a chair or other support is attached to a gimbal,where a pitch or horizontal axis is perpendicular to a user or objectbeing manipulated, while a roll axis is aligned with the user or objectorientation. Since the gimbal axes may be arranged to traverse a centerof mass, the system may be balanced to achieve movement with reducedpower. For example, U.S. Pat. No. 6,037,927 (Rosenberg) discloses anapparatus for interfacing movement of a shaft with a computer. Theapparatus includes a support, a gimbal mechanism having two degrees offreedom, and three electromechanical transducers. The gimbal mechanismhas a base portion rotatably coupled to the support to provide a firstdegree of freedom and an object receiving portion rotatably coupled tothe base portion to provide a second degree of freedom. A firstelectromechanical transducer is coupled between the support and baseportion, a second electromechanical transducer is coupled between thebase portion and object receiving portion, and a third electromechanicaltransducer is coupled between the object receiving portion and anelongated object that is at least partially disposed within the objectreceiving portion. When a shaft is engaged with the gimbal mechanism,the shaft can move in three degrees of freedom in a spherical coordinatespace, where each degree of freedom is sensed by one of the threetransducers. A fourth transducer can be used to sense rotation of theshaft about an axis.

[0010] The gimbal type mechanism suffers from several disadvantages withrespect to human sized payloads. In particular, gimbal ergonomicstypically require both pitch and roll axes to be supported on one side,thereby producing a significantly cantilevered system. This tends toresult in either a massively overbuilt frame or an excessively springyor bouncy mechanism.

OBJECTS AND SUMMARY OF THE INVENTION

[0011] Accordingly, it is an object of the present invention to enablerotation of a motion platform about plural axes via bearing axesdisplaced from those rotation axes.

[0012] It is another object of the present invention to configure amotion platform that is compact in size and facilitates easy usermanipulation.

[0013] Yet another object of the present invention is to ease useringress and egress into and out of a user support structure of a motionplatform.

[0014] Still another object of the present invention is to configure amotion platform for use in a variety of exercise and/or simulationdevices.

[0015] The aforesaid objects are achieved individually and/or incombination, and it is not intended that the present invention beconstrued as requiring two or more of the objects to be combined unlessexpressly required by the claims attached hereto.

[0016] According to the present invention, a motion platform systemincludes a motion platform rotatable about a plurality of bearing axesand a support structure supporting the platform. The motion platformrotates relative to the support structure about one or more, butpreferably two, axes offset from the bearing axes, and includes an innerframe supported by an intermediate frame. The intermediate frame isrotatable about a first bearing axis, while the inner frame is rotatableabout a second bearing axis substantially perpendicular to the firstbearing axis. A user manipulable actuator for each bearing axis isdisposed proximate the inner frame to control rotation of the platformrelative to the support structure. The bearing axes are arranged toenable rotational forces of the inner and intermediate frames to combineand produce a net platform rotation about virtual pitch and roll axeswhich are angularly displaced from the bearing axes by approximatelyforty-five degrees. In other words, the actuators control rotation ofthe inner and intermediate frames to produce net pitch and roll motionof the platform. The displacement of the platform bearing axes from thevirtual axes eases user access to the platform.

[0017] In effect, the system is basically a two degree-of-freedom gimbaltype mechanism with bearing axes angularly displaced from conventionalpitch and roll gimbal axes by approximately forty-five degrees to permitentry and egress to the platform. The system is compact to enable adevice to include dimensions slightly greater than a user, andestablishes virtual pitch and roll axes angularly displaced from thebearing axes as described above. This is accomplished by assigning usermanipulable actuators to each bearing axis, where manipulation of theactuators in the same direction produces platform pitch motion andmanipulation of the actuators in opposite directions produces platformroll motion.

[0018] The present invention provides several advantages. Initially,various applications may benefit by employing a platform of the presentinvention that is stable and lightweight, requires low power andincludes minimal dimensions sufficient to accommodate a user and acenter of rotation within the volume housing the user. The applicationsinclude economical flight and driving simulations, location-basedentertainment virtual rides (e.g., roller coasters, space flight, etc.)and plural axes exercise machines (e.g., that preferably exercisesubstantially the entire body). The present invention provides the abovefeatures by initially rotating the platform pivoting mechanism byapproximately forty-five degrees within the plane containing platformpitch and roll axes. This permits easy entry and egress by a user to theplatform without employing a heavy, cantilevered structure. Further,user manipulable actuators each control rotation about a respectiveplatform bearing axis, thereby enabling motion about the conventionalpitch and roll axes (e.g., which are displaced from the bearing axes)and resulting in a compact and lightweight motion platform that providesexcellent entry and egress for a user.

[0019] The above and still further objects, features and advantages ofthe present invention will become apparent upon consideration of thefollowing detailed description of specific embodiments thereof,particularly when taken in conjunction with the accompanying drawings,wherein like reference numerals in the various figures are utilized todesignate like components.

BRIEF DESCRIPTION OF THE DRAWINGS

[0020]FIG. 1 is a front view in perspective of a plural frame system inaccordance with the present invention.

[0021]FIG. 2 is a top view of the system of FIG. 1.

[0022]FIG. 3 is a rear view in perspective of the system of FIG. 1.

[0023]FIG. 4 is a front view in perspective of the system of FIG. 1 withthe inner frame of the system rotated in a downward pitch orientationwith respect to the outer frame.

[0024]FIG. 5 is a front view in perspective of the system of FIG. 1 withthe inner frame of the system rotated in an upward pitch orientationwith respect to the outer frame.

[0025]FIG. 6 is a front view in perspective of the system of FIG. 1 withthe inner frame of the system rotated in a roll orientation to one sidewith respect to the outer frame.

[0026]FIG. 7 is a front view in perspective of the system of FIG. 1 withthe inner frame of the system rotated in a roll orientation to anotherside with respect to the outer frame.

[0027]FIG. 8 is a front view in perspective of another embodiment of aplural frame system in accordance with the present invention.

[0028]FIG. 9 is a view in perspective of a third embodiment of a pluralframe system incorporated into an exercise device in accordance with thepresent invention.

[0029]FIG. 10 is a view in perspective of an alternative embodiment of aplural frame system incorporated into an exercise device in accordancewith the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] A plural frame motion system according to the present inventionis illustrated in FIGS. 1-3. Specifically, system 1 includes an outerframe 2, an intermediate frame 20 nested within and supported by outerframe 2, and an inner frame 40 nested within and supported byintermediate frame 20. Each frame is constructed of a suitably rigidmaterial (e.g., metal, such as steel, copper, aluminum and alloysthereof, plastics; etc.) capable of supporting one or more individualswithin the inner frame for operation of the system as described below.

[0031] Outer frame 2 includes a lower section or base 4 that engages asupporting surface. Base 4 includes a plurality of elongated supportmembers 5 oriented in a generally horizontal fashion and joined togetherto form a substantially rectangular and frame-like configuration withcorners 13 and 15 disposed at the front end of system 1 and corners 14and 16 disposed at the system rear end. A first elongated post 8 extendsin a generally vertical and upward direction (i.e., in a direction awayfrom the surface that supports system 1) from front corner 13, while asecond elongated post 10 extends in a generally vertical and upwarddirection from rear corner 14 located diagonally opposite front corner13. Each post 8, 10 includes substantially the same longitudinaldimension and has secured at its upper end a pivotal connection member12 that facilitates pivotal connection of intermediate frame 20 to outerframe 2 in the manner described below. One or both of posts 8 and 10 mayoptionally include cable support members 11 (e.g., support brackets) tosupport actuating cables as described below. It is to be understood thatthe terms “upward”, “downward”, “top”, “bottom”, “side”, “front”,“rear”, “upper”, “lower”, “vertical”, “horizontal”, “height”, “width”,“length” and the like are used herein merely to describe points ofreference and do not limit the present invention to any specificorientation or configuration.

[0032] Intermediate frame 20 includes a generally U-shaped section 21formed by an elongated lower post 22 arranged in a generally horizontalorientation and two elongated posts 24 extending in a generally verticaland upward direction from the opposing longitudinal ends of lower post22. Posts 24 include substantially the same longitudinal dimension,while the longitudinal dimension of post 22 is slightly less than thedistance between diagonally opposing front and rear corners 15, 16 ofouter frame base 4. The intermediate frame is suspended above outerframe base 4 and between outer frame posts 8 and 10 by elongated upperposts 26 arranged in a generally horizontal orientation and extendingfrom the upper ends of vertical posts 24. Horizontal upper posts 26 arecoupled to outer frame vertical posts 8 and 10 via pivotal connectionmembers 12. Specifically, U-shaped section 21 is oriented within outerframe 2 such that lower horizontal post 22 is suspended a selecteddistance above base 4 and extends generally parallel with an axisintersecting diagonally opposing front and rear base corners 15 and 16(i.e., the free corners of the outer frame base that do not connect withposts 8 and 10). The upper horizontal posts 26 of intermediate frame 20are generally in parallel with each other between the front and rear ofthe outer frame such that each of their free ends terminates at alocation proximate the upper end of a respective vertical outer framepost 8, 10. The intermediate frame is further suspended and alignedwithin outer frame 2 such that upper horizontal posts 26 are generallycoplanar with the upper ends of posts 8 and 10.

[0033] Pivotal connection members 12 pivotally secure the free ends ofeach upper horizontal post 26 of intermediate frame 20 to the upper endsof outer frame posts 8 and 10. Each pivotal connection member 12includes a hollow, cylindrical casing 32 secured to the upper end of acorresponding post 8, 10 and a generally cylindrical axle 34 supportedby and extending through the casing and secured to the free end of acorresponding upper horizontal post 26 of intermediate frame 20. Thus,one pivotal connection member 12 is disposed at the front end of thesystem (i.e., at a location corresponding to outer frame base corner 13)and the other member 12 is disposed at the rear end of the system (i.e.,at a location corresponding to outer frame base corner 14). The designof the casings and axles is suitable to permit a selected degree ofrotational movement of each axle about its longitudinal axis, whilebeing maintained within its corresponding casing. Further, the casingsand axles are suitably aligned and connected with the intermediate andouter frames such that the longitudinal axis of axle 34 of eachconnection member 12 is aligned along an axis A. In essence, theconnection member axles serve as a combined split axle to facilitate aselected degree of rotational movement of intermediate frame 20 aboutbearing axis A with respect to outer frame 2.

[0034] At least one of the pivotal connection members further includes apivotal actuating member coupled to a corresponding axle to enable aselected degree of rotational movement of the axle in a certainrotational direction, which in turn produces a corresponding rotationalmovement of the intermediate frame with respect to the outer frame aboutbearing axis A. A suitable pivotal actuating member is depicted insystem 1 as an elongated pivotal lever 36 connected to axle 34 atvertical post 10 of the outer frame. However, it is noted that anysuitable actuating member may be provided to one or both of the pivotalconnection members secured at the outer frame vertical posts to effectrotational movement of the axles and thus the intermediate frame.

[0035] Pivotal lever 36 is connected at a selected intermediate locationto an end of axle 34 that extends through casing 32 to an exteriorposition slightly beyond post 10 and outside of outer frame 2. Cables 62and 64 are attached to respective ends of lever 36 and extend to anactuator 60 as described below. Pivotal lever 36 facilitates rotation ofrear end axle 34 located at the upper end of post 10 and intermediateframe 20, while front end axle 34 secured at the upper end of post 8rotates in correspondence with the rear end axle as a result of torquebeing transmitted through intermediate frame 20 by the pivotal lever.

[0036] Inner frame 40 includes a U-shaped section 41 formed by anelongated post 42 arranged in a generally horizontal orientation and aplurality of elongated posts 44 arranged in a generally horizontalorientation and extending from the longitudinal ends of post 42. Innerframe 40 is nested within intermediate frame 20 and suspended abovehorizontal lower post 22 of the intermediate frame by coupling ofportions of U-shaped section 41 to upper horizontal posts 26 of theintermediate frame via pivotal connection members 50 as described below.U-shaped section 41 is oriented in a generally coplanar relationshipwith upper horizontal posts 26 of the intermediate frame, withhorizontal posts 44 of the U-shaped section extending from post 42toward the system front end (i.e., in a direction toward front corners13 and 15 of outer frame base 4).

[0037] The inner frame further includes an L-shaped section 45 includingan elongated post 46 extending in a generally vertical and downwarddirection (i.e., toward outer frame base 4) from an intermediate sectionof horizontal post 42 to an elongated post 47 that is arranged in agenerally horizontal orientation and extends a selected distance towardthe system front end. The combination of the U-shaped and L-shapedsections of the inner frame basically defines an enclosure suitable forsecuring one or more individuals therein during system operation. In anexemplary embodiment, the dimensions of the defined enclosure may bedesigned to accommodate one or more individuals in a seated position,particularly if a cushioned seat or other suitable structure (not shown)is coupled to the U-shaped and L-shaped sections. As can be clearly seenfrom FIGS. 1-3, the outer, intermediate and inner frames are dimensionedand coupled together such that the inner frame is situated at agenerally central location within an area defined by outer frame base 4.

[0038] The inner frame may optionally include cable support structuresto support cables extending between axle actuating members disposed nearthe rotating axles and actuators 60 and 70 that apply force so as toactuate the axle actuating members as described below. Inner frame 40includes a plurality of elongated posts 48 each extending in a generallyvertical and downward direction from a location on a horizontal post 44near a post longitudinal end. Each post 48 includes a bracket 49 forsupporting a portion of a corresponding cable so as to stabilize thecable during actuation of the axle actuation members.

[0039] The inner frame is coupled to the intermediate frame via pivotalconnection members 50 that are substantially similar to pivotalconnection members 12 which couple the intermediate frame to the outerframe. Specifically, a pivotal connection member 50 is disposed towardthe front end of the outer frame opposite vertical post 8, while anothermember 50 is disposed toward the rear end of the outer frame oppositevertical post 10. Each pivotal connection member 50 includes a hollow,cylindrical casing 52 secured to a corresponding upper horizontal post26 of the intermediate frame directly above the location where thehorizontal post 26 connects with its corresponding vertical post 24. Agenerally cylindrical axle 54 is supported within and extends througheach casing 52 to connect with a portion of U-shaped section 41 of theinner frame. In particular, axle 54 located at the system front end isconnected to the front end (i.e., the end extending to the front of thesystem) of a corresponding horizontal post 44 of the inner frame, whileaxle 54 located at the system rear end is connected to a corner formedby the connection of a corresponding horizontal post 44 and horizontalpost 42 of the inner frame. The design of the casings and axles ofmembers 50 is suitable to permit a selected degree of rotationalmovement of each axle about its longitudinal axis while being maintainedwithin its corresponding casing. Further, the casings and axles ofmembers 50 are suitably aligned and connected with the intermediate andinner frames such that the longitudinal axes of the axle of each member50 is aligned along an axis B, where axis B is substantiallyperpendicular to axis A and intersects that axis at a center of theinner frame. The connection member axles basically serve as a combinedsplit axle to facilitate a selected degree of rotational movement ofinner frame 40 about its bearing axis B with respect to intermediateframe 20.

[0040] At least one of the pivotal connection members 50 furtherincludes a pivotal actuating member coupled to a corresponding axle toenable a selected degree of rotational movement of the axle in a certainrotational direction, which in turn produces a corresponding rotationalmovement of the inner frame with respect to the intermediate frame aboutbearing axis B. The pivotal actuating member for rotating the innerframe with respect to the intermediate frame is substantially similar tothe pivotal actuating member described above facilitating rotation ofthe intermediate frame with respect to the outer frame. Specifically,the pivotal actuating member includes a pivotal lever 56 connected toaxle 54 located at the system front end. Pivotal lever 56 is connectedat an intermediate location to an end of axle 54 that extends slightlythrough a corresponding casing 52 to a position beyond intermediateframe 20. Cables 72 and 74 are attached to respective ends of lever 56and extend to an actuator 70 as described below. Pivotal lever 56facilitates rotation of front end axle 54 and inner frame 40, while rearend axle 54 rotates in correspondence with front end axle 54 as a resultof torque being transmitted through the inner frame by pivotal lever 56.

[0041] At least one actuator is preferably disposed at one or moresuitable locations on the inner frame that are accessible to one or moreindividuals positioned within the inner frame of the system. Inparticular, actuators 60 and 70 are pivotally secured to respectivehorizontal posts 44 of the inner frame at an intermediate section of theposts. Actuators 60 and 70 are elongated in the form of handles topermit an individual (e.g., in a seated position within inner frame 40)to engage actuators 60 and 70 by hand. Cables 62 and 64 are attached toa lower end of actuator 60 and extend and attach to opposing ends ofpivotal lever 36. Similarly, cables 72 and 74 are attached to a lowerend of actuator 70 and extend and attach to opposing ends of pivotallever 56. Cables 62 and 64 may optionally be supported by brackets 49 oncorresponding vertical posts 48 of the inner frame as well as bybrackets 11 on vertical post 10 of the outer frame. Similarly, cables 72and 74 may be optionally supported by brackets 49 on correspondingvertical posts 48 of the inner frame as well as by brackets 43 locatedon the vertical post 24 of the intermediate frame located near thesystem front end. The cable supporting brackets provide guiding supportwhile permitting sliding movement of the cables with respect to thebrackets during actuation of the pivotal levers as described below.

[0042] Actuators 60 and 70 are pivotally secured to inner framehorizontal posts 44 in any suitable manner to permit a selected degreeof pivotal movement of each actuator in a forward direction toward thesystem front end and in a reverse direction toward the rear end of thesystem. Actuator 60 controls pivotal movement of intermediate frame 20with respect to outer frame 2 about bearing axis A by movement of theactuator in the forward or reverse direction (e.g., by an individualpushing forward or pulling back actuator 60 when seated in a position inwhich the individual faces the front end of the system). Specifically,pivotal movement of actuator 60 in the forward direction exerts apulling tension on cable 62 and a pushing tension on cable 64. Cable 62applies a force to and directs downward a first end of pivotal lever 36,while cable 64 similarly applies a force to and directs upward a secondend of that lever. These applied forces in turn generate a torque onrear end axle 34 secured to lever 36, forcing axles 34 of each member 12and intermediate frame 20 to which they are attached to rotate to aselected degree and in a selected direction about axis A (represented byrotational arrow 76 in FIG. 3), where the rotation includes a downwardcomponent (represented by arrow 81 in FIG. 3) and a first lateralcomponent (represented by arrow 82 in FIG. 3) that is normal to thedownward component. In contrast, pivotal movement of actuator 60 in thereverse direction exerts a pulling tension on cable 64 and a pushingtension on cable 62. Cable 64 applies a force and directs downward thesecond end of pivotal lever 36, while cable 62 similarly applies a forceand directs upward the first end of that lever. These applied forcesgenerate a torque on rear end axle 34 connected to lever 36 and resultsin rotation to a selected degree and in a selected direction of frontand rear end axles 34 and intermediate frame 20 about axis A(represented by rotational arrow 77 in FIG. 3). This rotation includesan upward component (represented by arrow 83 in FIG. 3) and a secondlateral component (represented by arrow 84 in FIG. 3) normal to theupward component and in an opposing direction of first lateral component82. Since inner frame 40 is coupled to intermediate frame 20, the innerframe will move in general alignment with the intermediate frame, absentany manipulation of pivotal lever 56, when the intermediate frame pivotsabout corresponding bearing axis A in response to manipulation ofactuator 60.

[0043] Similarly, actuator 70 controls pivotal movement of inner frame40 with respect to intermediate frame 20 about bearing axis B by movingactuator 70 in the forward or reverse direction. Specifically, pivotalmovement of actuator 70 in the forward direction exerts a pullingtension on cable 72 and a pushing tension on cable 74. Cable 72 appliesa force and directs downward a first end of pivotal lever 56, whilecable 74 similarly applies a force and directs upward a second end ofthat lever. These applied forces generate a torque on front end axle 54secured to lever 56 and a resultant rotation to a selected degree and ina selected direction of front and rear end axles 54 and inner frame 40about axis B (represented by arrow 78 in FIG. 3). This rotation includesa downward component (represented by arrow 85 in FIG. 3) and a thirdlateral component (represented by arrow 86 in FIG. 3) normal to theupward component. In contrast, pivotal movement of actuator 70 in thereverse direction exerts a pulling tension on cable 74 and a pushingtension on cable 72. Cable 74 applies a force and directs downward thesecond end of pivotal lever 56, while cable 72 similarly applies a forceand directs upward the first end of that lever. These applied forcesgenerate a torque on front end axle 54 connected to lever 56 thatresults in a rotation to a selected degree and in a selected directionof front and rear end axles 54 and inner frame 40 about axis B(represented by rotational arrow 79 in FIG. 3). This rotation includesan upward component (represented by arrow 87 in FIG. 3) and a fourthlateral component (represented by arrow 88 in FIG. 3) that is normal tothe upward component and is in an opposing direction to the thirdlateral component 86.

[0044] Operation of system 1 to effect rotational movements of the innerframe is now described with reference to FIGS. 2-7. In particular,actuators 60 and 70 may be manipulated during system operation toachieve a synthetic forward or reverse pitch rotation as well as asynthetic side-to-side roll rotation of inner frame 40 as describedbelow. Basically, the inner frame rotates in a forward or reverse pitchin relation to the outer frame by manipulating both actuators in thesame direction to rotate the intermediate and inner frames about theirrespective axes A and B, resulting in a combined rotation of the innerframe about an axis X (FIG. 2) that extends through a center of theinner frame and between lateral sides of the system. The inner frameexperiences a side-to-side roll by manipulating actuators in oppositedirections to rotate the intermediate and inner frames about theirrespective axes A and B, resulting in a combined rotation of the innerframe about an axis Y (FIG. 2) that extends through the center of theinner frame and between the front and rear sides of the system.Rotational axes X and Y are perpendicular to each other and are eachshifted by approximately 45° from each of the bearing axes A and B ofthe intermediate and inner frames.

[0045] A forward pitch rotation of inner frame 40 with respect to outerframe 2 is achieved by manipulating both actuators 60, 70 in a forwardposition as illustrated in FIG. 4. Specifically, forward motion of bothactuators effects a corresponding rotation as noted above for theintermediate and inner frames about their respective bearing axes A andB. The complete rotations of the intermediate and inner frames resultsin a combination of their downward rotational components (represented byarrows 81 and 85 in FIG. 3) and a cancellation of their first and thirdlateral rotational components (represented by arrows 82 and 86 in FIG.3), resulting in net forward pitch rotation of the inner frame aboutaxis X in relation to the outer frame. A similar reverse pitch rotationof the inner frame about axis X is achieved by manipulating bothactuators 60, 70 in a reverse direction as illustrated in FIG. 5. Inthis situation, the upward rotational components (represented by arrows83 and 87 in FIG. 3) are combined and the second and fourth lateralrotational components (represented by arrows 84 and 88 in FIG. 3) canceleach other upon completion of the rotations of the intermediate andinner frames about their respective axes, resulting in the net reversepitch rotation of the inner frame about axis X in relation to the outerframe.

[0046] Side-to-side roll rotations of the inner frame about axis Y inrelation to the outer frame are achieved by manipulating the actuatorsin opposite directions. For example, a roll rotation of the inner frameto one side can be achieved, as illustrated in FIG. 6, by manipulatingactuator 60 in a forward position and manipulating actuator 70 in areverse position. In this situation, the first and fourth lateralrotational components (represented by arrows 82 and 88 in FIG. 3) arecombined while the downward and upward rotational components(represented by arrows 81 and 87 in FIG. 3) cancel each other uponcompletion of the rotations of the intermediate and inner frames abouttheir respective A and B axes, resulting in the net roll rotation of theinner frame about axis Y with respect to one side of the outer frame asdepicted in FIG. 6. In contrast, manipulating actuator 60 in a reverseposition and manipulating actuator 70 in a forward position, asillustrated in FIG. 7, results in a combination of the second and thirdlateral rotational components (represented by arrows 84 and 86 in FIG.3) while the upward and downward rotational components (represented byarrows 83 and 85 in FIG. 3) cancel each other upon completion of therotations of the frames about their respective axes. This combinationresults in a net roll rotation of the inner frame about axis Y withrespect to an opposing side of the outer frame as depicted in FIG. 7.

[0047] Thus, the system of the present invention provides a compactframe design that facilitates rotation of an inner user supporting frameabout plural axes, thereby providing at least two degrees of freedom ofmovement simply by manipulation of one or more actuators. In addition,positioning of the pivotal bearing axes for the nested frames within thesystem so as to achieve an effective pitch or roll rotation of the innerframe along axes that are shifted 45° from the frame bearing axes allowseasy ingress and egress to the inner frame by one or more users whileminimizing undesirable rotational movement of the inner frame. In otherwords, the system basically displaces inner frame axes of rotation byapproximately 45° to provide space for ingress and egress of users tothat frame.

[0048] The system of the present invention further provides amechanically simple mechanism of operating the actuators that isintuitive to a user to effect pitch and roll orientations of the innerframe with respect to the outer frame. For example, in the systemdescribed above, manipulation of both actuators in the same directioneffects a pitch rotation to simulate a dive or a climb, whilemanipulation of the actuators in opposite directions effects aside-to-side rotation to simulate a roll. Other mechanisms known in theart, such as Stewart and Gough platforms or conventional gimbal frames,require more complex and less operator intuitive mechanisms to producesimilar pitch and roll effects.

[0049] While the system described above and illustrated in FIGS. 1-7utilizes a purely mechanical actuation of the actuators to effectrotational movement of the inner frame with respect to the outer frame,it is noted that any suitable combination of mechanical and/orelectrical actuation devices may be employed to effect a desiredrotation of the inner user supporting frame. For example, servomotorsmay be utilized in combination with one or more suitable actuators(e.g., a keyboard, one or more switches, handles, buttons, joysticks,sensors, etc.) to pivot the intermediate and inner frames on theirbearing axes to a selected degree and in a selected direction.Alternatively, rotational movements of the inner and intermediate frameswithin the system may be controlled automatically (e.g., by a controlleras described below) such that no user actuation may be required toeffect rotational movements such as pitch and roll of the inner frame.

[0050] In addition, any combination of suitable axle actuating devicesmay be provided to effect rotation of the frames about the frame bearingaxes. For example, one or more rotary gears may be provided as analternative to the pivotal levers described above, where the gears areconnected at their hubs to a corresponding axle and include one or morecables connecting to outer circumferential sections of the gears toeffect the desired rotational movement of the gears, bearing axles andcorresponding frames. In embodiments employing servomotors or otherelectrically controlled actuating devices to rotate the inner andintermediate frames about their bearing axes, cables that connectbetween the actuators and the actuating devices may optionally bereplaced with electrical wires connected to sensors (e.g., opticalsensors, magnetic sensors, strain gauge sensors, etc.) that detectdegrees of movement of the actuators and relay such information to theactuating devices to effect corresponding pivotal movement of theframes. Alternatively, wireless communication devices (e.g., infrared orRF) may be provided to effect communication between sensors andactuating devices so as to eliminate electrical wiring extendingtherebetween.

[0051] The previously described system may be further modified tofacilitate movement of the outer frame, and thus the intermediate andinner frames, in additional degrees of freedom. An exemplary embodimentof a modified system is illustrated in FIG. 8. System 100 issubstantially similar in design and operability to the previouslydescribed system, with outer frame 2 supporting nested intermediate andinner frames 20 and 40 and facilitating pivotal movement of these nestedframes about their bearing axes A and B as described above to achieverotational movements of the inner frame with respect to the outer frameabout axes X and Y. System 100 further includes a platform 110 uponwhich base 4 of outer frame 2 is supported. Platform 110 may be coupledto any suitable structure to effect any combination of linear and/orrotational movements of the outer frame. For example, platform 110 maybe coupled to a rotating member to facilitate rotation of the outerframe, and thus the intermediate and inner frames, about a vertical axisZ which extends through a center of the inner frame. Alternatively, orin addition to being coupled to a rotating member, platform 110 may becoupled to one or more other driving members to effect linear movementof the frames in any directions parallel and/or transverse therotational axes X, Y and Z (e.g., refer to arrows 112, 114, 116, 118 and120 in FIG. 8 representing the directions in which the outer,intermediate and inner frames may be moved). Thus, system 100 effectsrotational as well as linear movements of the inner frame about or withrespect to plural axes for a wide variety of applications, includingapplications requiring pitch (i.e., rotation about axis X), roll (i.e.,rotation about axis Y) and yaw (i.e., rotation about axis Z) movementsof the inner frame. The system may further include one or moreadditional actuators (not shown) to enable a user to control rotation ofthe platform, and one or more sensors to measure platform rotation andprovide the information to a computer for virtual environments asdescribed below.

[0052] Examples of applications that may utilize the previouslydescribed systems include, without limitation, flight and/or othersimulation devices, exercise devices and entertainment devices. A systemof the present invention may be combined with a suitable controller(e.g., a computer system) and a suitable display (e.g., a monitor or ahelmet mounted display) for simulating different types of trainingand/or entertainment activities in a virtual reality scenario. Actuators60, 70 may be optional, where the controller controls system actuationto simulate various conditions (e.g., turbulence, terrain, etc.). Inaddition, encoders or potentiometers may be coupled to any of thepivoting frames, actuators, actuating members, bearing axles, platforms,axes, etc. to determine the amount of rotational or lateral movement.This information may be relayed to the controller to correspond withand/or change conditions of a programmed simulation scenario that a userof the system is viewing on a display or to provide feedback for controlof frame movement for the scenario. The controllers of any two or moresystems may also communicate with each other over a network tofacilitate simultaneous engagement of plural systems in the same virtualreality scenario.

[0053] Powered actuators (e.g., servomotors, hydraulic or pneumaticdevices, etc.) may also be provided in addition to the intermediate andinner frame pivoting actuators to provide additional motion effects tothe inner frame. For example, certain powered actuators may be providedto apply forces to the pivoting actuators, platform and other systemcomponents to achieve additional motion effects simulating turbulence.Passive and/or active actuators (e.g., caliper brakes, hydraulic servovalves, motors, hydraulic or pneumatic devices, etc.) may also becoupled with the intermediate and inner frame pivoting actuators toprovide additional resistance effects. When applying the powered andresistance actuators to the embodiments described above, the actuatorseffecting pivotal movement of the intermediate and inner frames as wellas the outer frame and/or platform supporting the outer frame experiencethe haptic effect. Exemplary applications for these types of resistanceactuators include exercise devices. For example, when utilizing handlesas actuators to effect a mechanical pivoting of the intermediate andinner frames based upon physical exertion by a user such as in thesystem illustrated in FIG. 1, resistance actuators may be employed toincrease or decrease the level of resistance associated withmanipulation of one or both of the handles to effect pivotal movement ofone or both of the intermediate and inner frames. In addition, otherresistance controlled elements, such as cycling pedals for engaging witha user's feet, may be provided in the exercise device that can also bemanipulated by the user in combination with the handle actuators.

[0054] An exemplary embodiment of a virtual reality exercise deviceutilizing a plural frame system of the present invention is illustratedin FIG. 9. Specifically, system 200 is a cycling type exercise deviceemploying a computer system and a display or monitor 302 to providevirtual reality scenarios for the system that are interactive with auser's manipulation of handle actuators 260 and 270 and foot pedalactuators 250 as described below. System 200 includes an outer frame202, an intermediate frame 220 and an inner frame 240 arranged tofunction in a manner similar to that of the plural frame systemdescribed above to facilitate motion of the inner frame relative to theouter frame. Outer frame 202 includes an elongated and generallyhorizontal base member 204 that engages a supporting surface. A pair ofwing shaped members 205 extend transversely and in opposing directionsfrom an intermediate section of the base member. The wing shaped membersengage a supporting surface for system 200 to provide stability for thesystem during pivotal movement of the intermediate and inner framesrelative to and supported by outer frame 202. A pair of generallyvertical and tubular A-shaped members 210 are attached at opposinglongitudinal ends of the base member 204. Each of the A-shaped members210 includes a pivotal support connection member 212 located at an apexof that member 212 for supporting intermediate frame 220 as describedbelow.

[0055] Intermediate frame 220 is supported by the outer frame andincludes a semi-circular tubular member 222 oriented with a convexsurface facing base member 204 and extending between with opposing endsproximate the apexes of A-shaped members 210. A pair of tubular members224 are oriented in a generally horizontal fashion and extend fromopposing ends of semi-circular member 222 in a generally parallelalignment and in opposing directions with respect to each other. Theopposing ends of semi-circular member 222 are further pivotally coupledto the apexes of A-shaped members 210 via the pivotal connection members212 such that the intermediate frame is supported by the outer frame andsuspended above base member 204. Pivotal connection members 212 arealigned along axis A to facilitate rotational movement of theintermediate frame with respect to the outer frame about axis A. Thefree end of each horizontal member 224 includes a pivotal connectionmember 226 for supporting inner frame 240 as described below.

[0056] Inner frame 240 includes a semi-circular tubular member 242oriented with a convex surface facing semi-circular member 222 of theintermediate frame and with opposing ends extending proximate the freeends of horizontal members 224. The opposing ends of semicircular member242 are pivotally coupled to the free ends of horizontal members 224 viaa corresponding pivotal connection member 226 such that thesemi-circular member of the inner frame is suspended above thesemi-circular member of the intermediate frame. Pivotal connectionmembers 226 are aligned along axis B, which is normal to axis A, andfacilitate rotational movement of the inner frame with respect to theintermediate frame about axis B. A user support section 244 is connectedat an intermediate concave portion of semi-circular member 242 andincludes a seat 246 for supporting a user 247 during system operation.Two generally vertically oriented handle actuators 260 and 270 arepivotally connected to and extend from the user support section formanipulation by the hands of user 247. Each actuator 260, 270 may bemoved in a forward or reverse direction to effect pivotal movement of acorresponding intermediate or inner frame as described below. Inaddition, support section 244 includes a pair of foot pedals 250 securedto a rotating flywheel 245 (e.g., or other exercise device such as stairclimbing, rowing, skiing or full body, etc.) housed within the supportsection a suitable distance from seat 246 to permit a user's feet toengage and manipulate the foot pedals. Although flywheel 245 extendsslightly below semi-circular member 242, the flywheel is suitablydimensioned to permit a desired degree of pivotal movement of the innerframe with respect to the outer frame during system operation.

[0057] Each of the pivotal connection members 212 and 226 includeactuating members that effect pivotal movement to a selected degree andin a selected direction of each of the intermediate and inner framesabout their respective A and B axes in response to forward or reversemovements of actuators 260 and 270. Basically, actuators 260 and 270 maybe manipulated to effect pivotal movement of the intermediate and innerframes in a substantially similar manner as in the previously describedsystems. For example, actuator 260 may effect pivotal movement ofintermediate frame 220 about axis A by actuating at least onecorresponding actuating member disposed within the housing of one orboth pivotal connection members 212, while actuator 270 effects pivotalmovement of the inner frame about axis B by actuating at least onecorresponding actuating member disposed within the housing of one orboth pivotal connection members 226. The actuating members may be of anysuitable type. However, it is preferred that the actuating members areelectronically controlled by the computer system to facilitateintegration of user manipulation of the actuators 260 and 270 with acomputerized simulation displayed on monitor 302. The combined pivotalmovements of the intermediate and inner frames about their respectiveaxes in response to manipulation of both actuators 260 and 270 resultsin pitch and roll rotational movements of the inner frame with respectto the outer frame about axes X and Y that are substantially similar tothe pitch and roll rotational movements in the previously describedsystems.

[0058] The computer system is housed within a horizontal section 300 ofthe A-shaped member 210 disposed at the rear of the outer frame, with anaccess panel or door 301 being disposed on the horizontal section tofacilitate access to the computer system. The computer system receivesinput from sensors (not shown) disposed at any suitable locations insystem 200 for detecting a degree of pivotal movement of each of theinner and intermediate frames and/or the amount of forward or reversemovement of the actuators 260 and 270 based upon user manipulation ofthe actuators. The computer system may further receive input relating tothe forces applied to foot pedals 250 or the rate and direction ofcycling. These measurements may be used to update a user position withinor the rate the user traverses the virtual environment displayed onmonitor 302 based on the amount of exercise (e.g., cycling along a path,etc.). Further, the computer system may communicate with and controlresistance actuators coupled to any of actuators 260 and 270 and/or thepedal rotating gear to apply selected levels of resistance to the footpedals and handle actuators at selected times and in accordance with thedisplayed virtual reality scenario (e.g., to simulate uphill/downhill,non-planar, terrain, etc.). Moreover, the computer system may includeany number of suitable software packages for implementing differentvirtual reality scenarios during system operation. In addition, thecomputer system may be networked with other computer systemscorresponding to other exercise devices to facilitate plural useractivity in the same virtual reality scenario (e.g., competitions,sporting events, races, sports, etc.).

[0059] Display monitor 302 is connected to the inner frame at a frontend of the system to facilitate viewing by the user during systemoperation. Specifically, monitor 302 is connected via a tubular member303 to a front end of semi-circular member 242. Thus, monitor 302follows the motion of the inner frame and maintains the user perspectiveduring system operation. The monitor includes a display screen 304 andan input device 306 (e.g., a keyboard, mouse, voice recognition, etc.)to facilitate input of selected information by a user prior to, duringand/or after a simulation scenario.

[0060] System operation may be initiated when user 247 is positioned onseat 246 as illustrated in FIG. 9. The user may input selectedinformation to the computer system via input device 306 (e.g., selectinga particular simulation scenario, selected resistance or otherconditions for the scenario, user physical characteristics, etc.) priorto initiating the scenario. During operation, the selected scenario isdisplayed on screen 304, and user 247 manipulates pedals 250 and/orhandle actuators 260 and 270 based upon displayed criteria. The computersystem detects manipulation of the pedals and/or the handle actuators,via the sensors, and controls the virtual images displayed on monitorscreen 304 based upon such inputs. Basically, the pedals and actuatorsenable the user to navigate through the virtual environment.

[0061] For example, when the handle actuators 260 and 270 aremanipulated to effect a forward pitch rotation of the inner frame, acorresponding dive orientation (e.g., toward the ground) or traveldirection in the virtual reality scenario may be displayed on displayscreen 302. When the handle actuators 260 and 270 are manipulated toeffect a reverse pitch rotation of the inner frame, a correspondingclimb orientation (e.g., toward the sky) or travel direction in thevirtual reality scenario may be displayed on the display screen.Similarly, roll rotations of the inner frame to either side may resultin a corresponding roll orientation (e.g., a rotation of the horizonrepresenting a turning motion) or travel direction in the virtualreality scenario being displayed on the display screen. Operation of thepedals 250 may produce a simulated traversing of terrain in the virtualreality scenario as indicated by the display screen, whereby the rate oftravel through the virtual environment is proportional to the rate ofpedaling. The computer system may further adjust the resistance levelsapplied to the foot pedals and/or the handle actuators by the resistanceactuators to implement artificial physical conditions (e.g., travelinguphill or downhill, encountering wind resistance, etc.) corresponding tothe virtual reality scenario displayed on the display screen. Thus,manipulation of the handle actuators and foot pedals by the user duringa virtual reality scenario session results in exercise of both upper andlower body muscle groups, where the difficulty of the exercise can beselectively varied throughout the session based upon the resistancelevels applied to the handle actuators and foot pedals. If the system islinked to other systems (e.g., via a network or other communicationsmedium) plural users may participate in the same virtual realityscenario session, thus facilitating competitive interaction (e.g., teamraces) between two or more users within the session.

[0062] A further exemplary embodiment of a virtual reality exercisedevice utilizing a plural frame system of the present invention isillustrated in FIG. 10. Basically, system 400 is a cycling type exercisedevice substantially similar to the exercise device of FIG. 9 but with amodification to the inner, intermediate and outer frames. System 400employs a computer system (not shown) and a display or monitor 480 toprovide virtual reality scenarios for the system. These scenarios areinteractive with a user's manipulation of handle actuators 460 and 470and foot pedal actuators 450 in substantially the same manner describedabove for the system of FIG. 9.

[0063] The system includes an outer frame 402, an intermediate frame 420and an inner frame 440 arranged to function in a manner similar to thatof the plural frame systems described above to facilitate motion of theinner frame relative to the outer frame. Outer frame 402 includes agenerally horizontal and rectangular base member 404 that engages asupporting surface, and a pair of support posts 410, 412 extendingupward at opposing corners of the base member. The intermediate frameincludes a curved member 422 having a convex surface facing base member404 and extending between opposing corners of the outer frame topivotally connect with support posts 410, 412. Extending in a generallyhorizontal orientation and in opposing directions from the ends ofcurved member 422 are support members 424, 426. Inner frame 440similarly includes a curved member 442 having a convex surface facingthe intermediate frame curved member. The inner frame extends toward andpivotally connects with intermediate frame support members 424, 426.

[0064] A user support section 444 is connected at an intermediateconcave portion of the inner frame and includes a seat 446 forsupporting a user 447 during system operation. Two generally verticallyoriented handle actuators 460 and 470 are pivotally connected to andextend from the user support section for manipulation by the hands ofuser 447. Each actuator 460, 470 may be moved in a forward or reversedirection to effect pivotal movement of a corresponding intermediate orinner frame in a substantially similar manner as the previouslydescribed system of FIG. 9. In addition, support section 444 includes apair of foot pedals 450 secured to a rotating flywheel 445 (e.g., orother exercise device such as stair climbing, rowing, skiing or fullbody, etc.) housed within the support section a suitable distance fromseat 446 to permit a user's feet to engage and manipulate the footpedals. Monitor 480 extends from an upper surface of support section 444so as to be generally oriented in alignment with the user during systemoperation. Optionally, a support structure may be provided at a suitablelocation on monitor 480 for supporting a water bottle 490 or any otherarticle that may be accessed by the user during system operation. Thesupport structure may alternatively be located at any other suitablelocations that are accessible by the user. System 400 operates in asubstantially similar manner as the system of FIG. 9 to combine virtualreality simulation scenarios with exercising during system operation.

[0065] It will be appreciated that the embodiments described above andillustrated in the drawings represent only a few of the many ways ofimplementing a motion platform system and method of rotating a motionplatform about plural axes.

[0066] The plural frame system may be constructed of any suitablematerials, and each of the inner, intermediate and outer frames may haveany suitable dimensions and configurations to facilitate pivotal bearingof the intermediate and inner frames on axes that are displaced at anydesired angle from each other so as to effect rotation of the innerframe with respect to the outer frame on axes that are shifted at anydesired angle from the frame bearing axes. The inner frame (andcorresponding components) may be of any quantity, shape or size and mayhave any suitable configuration to receive and support any suitablenumber of individuals (e.g., at least one) in any number of positions(e.g., standing, seated, etc.) during operation of the system. The outerframe (and corresponding components) may be of any quantity, shape orsize and may be supported directly on a supporting surface or secured toa platform in any suitable manner to facilitate any rotational and/orlateral movement of the frames in combination with the rotationalmovements of the inner frame.

[0067] The inner frame may be coupled to the intermediate frame and theintermediate frame coupled to the outer frame in any suitable manner topermit their pivotal movement about different bearing axes as describedabove. The systems may be designed of any suitable type andconfiguration to facilitate pivotal movement of the frames by physicalmanipulation of the user and/or manipulation utilizing electromechanicaldevices. The pivotal connection members of the intermediate and innerframes may be constructed of any suitable materials and have anysuitable configurations. The bearing axles may be of any quantity, shapeor size and may be rotatably coupled to the outer frame and secured tothe intermediate frame at any locations and in any suitable manner toeffect pivotal movement of the intermediate frame with respect to theouter frame. Similarly, the bearing axles may be rotatably coupled tothe intermediate frame and secured to the inner frame at any locationsand in any suitable manner to effect pivotal movement of the inner framewith respect to the intermediate frame.

[0068] Any suitable number of pivotal actuating members may be providedat any locations to rotate the bearing axles supporting each of theintermediate and inner frames. The pivotal actuating members may be ofany suitable types and configurations (e.g., pivotal levers, rotatinggears, electrical valves or motors, pneumatic or hydraulic devices,etc.) to effect pivotal movement of the intermediate and inner frames.Any suitable number of mechanical and/or electrical cables may beprovided to connect actuators with pivotal actuating members.Alternatively, when utilizing electromechanical pivotal actuatingmembers, actuators may communicate with the pivotal actuating membersvia a wireless communication link (e.g., IR or RF). Additionally, anysuitable number of sensors of any suitable types and configurations(e.g., magnetic sensors, optical sensors, strain gauge sensors, inertialor gyroscopic sensors, etc.) may be provided at any suitable locationsto detect and relay information relating to the degree of desired and/oractual rotational and/or lateral movement of any of the inner,intermediate and outer frames.

[0069] Any one or more suitable actuators of any suitable types andconfigurations (e.g., elongated handles as in the above-illustratedsystems, buttons, switches, keyboards, joysticks, etc.) may be providedto effect actuation of the pivotal actuation members and resultantpivotal movement of the inner, intermediate and/or outer frames. Theactuator or actuators are preferably located proximate the inner frameto provide access to one or more individuals supported by the innerframe. The actuators may be provided in any suitable arrangement tofacilitate manipulation and exercise of any one or more muscle groupswithin a user's body. Further, any suitable passive and/or activeactuator members may be coupled to the actuators and/or pivotalactuation members to achieve a controllable degree of resistance duringmanipulation of the actuators by a user. In addition, any other suitableuser manipulation devices may be provided proximate the inner frame(e.g., foot pedals for operation by a user to simulate cycling, stairclimbers, etc).

[0070] Any suitable number of controllers may be utilized in the systemto effect control of any of the pivotal actuating members based uponinputs received from the actuators in the system. The controllers maycommunicate (e.g., by transmitting output instructions and/or receivinginput information) with any of the actuators, pivotal actuating members,resistance actuator members and/or sensors utilized in the system toeffect a desired level of control during system operation. Further, anynumber of displays may be linked with the controllers and mounted at anysuitable location with respect to one or more users supported within theinner frame to provide a visual display during operation of the systemin a virtual reality scenario. Alternatively, any number of displays maybe provided that are not mounted to any of the frames but are coupled tothe controllers to provide the appropriate visual display during systemoperation (e.g., one or more big screen displays for viewing by a numberof users). Displays may also be mounted to any one or more users (e.g.,head mounted or heads up displays, etc.). The controllers may beimplemented by any conventional or other computer or processing system(e.g., personal computer, etc.) and may include any number of suitablesoftware programs for displaying a variety of different virtual realityscenarios (e.g., flying, bicycling, auto racing, etc.) or competitions(e.g., sporting type competitions, races, etc.) on the displays duringsystem operations. The software programs may be suitably designed toalter display images based upon input information received by thecontroller or controllers relating to the degree of movement of theinner, intermediate and/or outer frames. For example, in a virtualreality flying scenario, manipulation of actuators to effect aside-to-side roll rotation of the inner frame with respect to the outerframe may be communicated to the controller, which in turn instructs thedisplay, via the software program, to alter displayed imagescorresponding to the roll orientation of the inner frame. Systemcontrollers for two or more systems may further be linked via anysuitable number of networks or other communications media to enableplural users to participate within a virtual reality scenario via pluralsystems located in local and/or remote environments.

[0071] The motion platform system of the present invention is notlimited to the applications disclosed herein, but may be utilized forany application including pivoting of users and/or structures. Forexample, various structures typically for containing one or more usersmay be mounted on the platform facilitating pivotal and/or linearmovement of the structures in accordance with control signals tosimulate various conditions (e.g., gravity, turbulence, etc.) forvarying purposes (e.g., flight simulators, auto simulators, amusementrides, military simulators, etc.). The motion platform may further beutilized in varying types of virtual reality or other exercise devices.For examples of various types of virtual reality exercise devices,reference is made to U.S. Pat. Nos. 5,462,503, 5,466,200, 5,584,700,5,690,582, 5,785,630 and 5,890,995. The disclosures of these patents areincorporated herein by reference in their entireties.

[0072] From the foregoing description, it will be appreciated that theinvention makes available a novel motion platform system and method ofrotating a motion platform about plural axes, wherein a motion platformstructure is rotated about plural virtual axes via bearing axes offsetfrom the virtual rotation axes.

[0073] Having described preferred embodiments of a novel motion platformsystem and method of rotating a motion platform about plural axes, it isbelieved that other modifications, variations and changes will besuggested to those skilled in the art in view of the teachings set forthherein. It is therefore to be understood that all such variations,modifications and changes are believed to fall within the scope of thepresent invention as defined by the appended claims.

What is claimed is:
 1. A motion platform system comprising: a support;and a motion platform supported by said support and rotatable about aplurality of bearing axes, wherein said motion platform is rotatablewith respect to said support about at least one axis that is offset fromsaid plurality of bearing axes.
 2. The system of claim 1, wherein saidmotion platform comprises: an intermediate frame supported by saidsupport, said intermediate frame being rotatable about a first bearingaxis with respect to said support; and an inner frame supported by saidintermediate frame, said inner frame being rotatable about a secondbearing axis with respect to said intermediate frame; wherein rotationsof said inner and intermediate frames about said first and secondbearing axes facilitate rotation of said inner frame with respect tosaid support about at least one of a third axis and a fourth axis. 3.The system of claim 2, wherein said inner frame includes a supportsection to support at least one user of said system during systemoperation.
 4. The system of claim 1, further comprising: a base coupledto said support to facilitate movement of said support with respect tosaid base in at least one direction.
 5. The system of claim 4, whereinsaid at least one direction includes a rotating direction of saidsupport with respect to said base.
 6. The system of claim 2, whereinsaid first and second bearing axes are substantially perpendicular toeach other and said third and fourth axes are respectively offset fromsaid first and second bearing axes.
 7. The system of claim 2, furthercomprising: at least one actuator that is actuable to facilitaterotations of said inner and intermediate frames about respective firstand second bearing axes.
 8. The system of claim 7, wherein said at leastone actuator comprises a first actuator and a second actuator, saidfirst actuator is actuated to rotate said intermediate frame about saidfirst bearing axis, and said second actuator is actuated to rotate saidinner frame about said second bearing axis.
 9. The system of claim 8,wherein said first and second actuators are movable in at least twodirections, said inner frame rotates about said third axis in responseto moving said first and second actuators simultaneously in a first setof directions, and said inner frame rotates about said fourth axis inresponse to moving said first and second actuators simultaneously in asecond set of directions.
 10. The system of claim 7, further comprising:a controller to control rotations of said intermediate and inner framesabout said first and second bearing axes in response to actuation ofsaid at least one actuator.
 11. The system of claim 7, furthercomprising: a monitor to display information relating to systemoperation.
 12. The system of claim 11, further comprising: a controllerto control said monitor to display a virtual reality scenario thatchanges based upon user manipulation of said system.
 13. The system ofclaim 12, further comprising: an exercise assembly supported by saidinner frame for manipulation by a user to exercise a user body duringsystem operation.
 14. The system of claim 13, wherein said exerciseassembly includes a cycling assembly for manipulation by user feet. 15.The system of claim 13, further comprising: at least one sensor incommunication with said controller, wherein said at least one sensormeasures manipulation of at least one of said inner frame, saidintermediate frame, said at least one actuator and said exerciseassembly and sends measured information to said controller.
 16. Thesystem of claim 13, further comprising: at least one resistance memberto adjust resistance to at least one of said intermediate frame, saidinner frame, said at least one actuator and said exercise assembly tosimulate conditions within said virtual reality scenario.
 17. Anexercise device comprising: a support; a motion platform supported bysaid support and rotatable about a plurality of bearing axes, whereinsaid motion platform is rotatable with respect to said support about atleast one axis that is offset from said plurality of bearing axes; amonitor to display information relating to system operation; acontroller to control said monitor to display a virtual reality scenariothat changes based upon user manipulation of said device; and anexercise assembly supported by said motion platform for manipulation bya user to exercise a user body during system operation.
 18. In a motionplatform system including a motion platform supported by a support androtatable about a plurality of bearing axes, a method of manipulatingsaid motion platform comprising: (a) rotating said motion platform aboutat least one axis that is offset from said plurality of bearing axes.19. The method of claim 18, wherein said motion platform includes anintermediate frame supported by said support and an inner framesupported by said intermediate frame, and wherein step (a) includes:(a.1) rotating said intermediate frame about a first bearing axis withrespect to said support; and (a.2) rotating said inner frame about asecond bearing axis with respect to said intermediate frame; whereinrotation of said inner and intermediate frames about said first andsecond bearing axes facilitate rotation of said inner frame with respectto said support about at least one of a third axis and a fourth axis.20. The method of claim 19, further comprising: (b) supporting at leastone user on said inner frame.
 21. The method of claim 18, wherein saidsystem further includes a base supporting said support, and wherein themethod further comprises: (b) moving said support in at least onedirection with respect to said base.
 22. The method of claim 21, whereinstep (b) includes: (b.1) rotating said support with respect to saidbase.
 23. The method of claim 19, wherein said first and second bearingaxes are substantially perpendicular to each other and said third andfourth axes are respectively offset from said first and second bearingaxes.
 24. The method of claim 19, wherein said system further includesat least one actuator, and wherein the method further comprises: (b)actuating said at least one actuator to facilitate rotations of saidinner and intermediate frames about respective first and second bearingaxes.
 25. The method of claim 24, wherein said at least one actuatorincludes first and second actuators, and wherein step (b) includes:(b.1) actuating said first actuator to effect rotation of saidintermediate frame about said first bearing axis; and (b.2) actuatingsaid second actuator to rotate said inner frame about said secondbearing axis.
 26. The method of claim 25, wherein step (b.1) includes:(b.1.1) moving said first actuator in a first direction to effectrotation of said intermediate frame about said first bearing axis; andstep (b.2) includes: (b.2.1) moving said second actuator in said firstdirection to effect rotation of said inner frame about said secondbearing axis; wherein the first and second actuators are movedsimultaneously to facilitate a rotation of said inner frame with respectto said support about said third axis.
 27. The method of claim 25,wherein step (b.1) includes: (b.1.1) moving said first actuator in afirst direction to facilitate rotation of said intermediate frame aboutsaid first bearing axis; and step (b.2) includes: (b.2.1) moving saidsecond actuator in a second direction that differs from said firstdirection to facilitate rotation of said inner frame about said secondbearing axis; wherein the first and second actuators are movedsimultaneously to facilitate rotation of said inner frame with respectto said support about said fourth axis.
 28. The method of claim 24,wherein said system further includes a controller, and wherein themethod further comprises: (c) controlling rotations of said intermediateand inner frames about said first and second bearing axes via saidcontroller in response to actuation of said at least one actuator. 29.The method of claim 24, wherein said system further includes a monitor,and wherein the method further comprises: (c) displaying informationrelating to system operation via said monitor.
 30. The method of claim29, wherein said system further includes a controller, and wherein themethod further comprises: (d) controlling said monitor, via saidcontroller, to display a virtual reality scenario that changes basedupon user manipulation of said system.
 31. The method of claim 30,wherein said system further includes an exercise assembly, and whereinthe method further comprises: (e) facilitating manipulation of saidexercise assembly to exercise a user body during system operation. 32.The method of claim 31, wherein said exercise assembly includes acycling assembly, and step (e) further includes: (e.1) facilitatingmanipulation of said cycling assembly by user feet to exercise a userlower body during system operation.
 33. The method of claim 31, whereinsaid system further includes at least one sensor in communication withsaid controller, and the method further comprises: (f) measuringmanipulation of at least one of said inner frame, said intermediateframe, said at least one actuator and said exercise assembly via said atleast one sensor; and (g) sending measured information from said atleast one sensor to said controller.
 34. The method of claim 31, whereinsaid system further includes at least one resistance member, and whereinthe method further comprises: (f) adjusting resistance, via said atleast one resistance member, to at least one of said intermediate frame,said inner frame, said at least one actuator and said exercise assemblyto simulate conditions within said virtual reality scenario.